I graph the desired versus actual values of roll, pitch and yaw of the plane using Arduplane V4.5.7. All the 5 values appear in the graph except the desired yaw value which appears as a straight line. See attached screenshots and the param.
Can anyone explain ? Thank you.
By default low level yaw controller (the one that would use rudder only) is disabled.
Can I enable it ?
Thanks
Yes, you can enable active yaw control but you will need to tune it so your plane flies in a coordinated manner.
If you are looking for navigation data then you can look into NTUN messages.
Pls advise how do I enable active yaw control , which parameter in Mission Planner ?
And I do not understand why displaying the yaw data will interfere the performance and necessitates re tuning. Pls explain.
Does the NTUN info have anything to do with the active yaw control ?
Thank you.
ATT.DesiredYaw comes from attitude control library.wi
NTUN.NavBrg comes from navigation library and represents the desired heading.
Both are closely related to where the vehicle wants to point, just at different control cascade level.
Yaw rate and yaw loop uses rudder to control yaw. If you roll your plane it will try to fly sideways unless you use rudder stick to command yaw rate.
You will need to tune yaw rate controller because it wasn’t tuned before you enabled it. Use of yaw controller is described in plane setup guide on the wiki.
Thank you for your help. I agree with the phenomenon described in “The XY problem”. This stems from the poor knowledge in the subject.
I also encounter situation in which I was asked certain question in a subject which I am familiar with, but the question was not phrased in a way that you can answer directly and accurately.
